#ifndef Z_ACTION_H
#define Z_ACTION_H

// 执行动作定义
enum Z_ACTION
{
    Z_ACTION_STOP = 0,
    Z_ACTION_Z_RESET,
    Z_ACTION_Z_MOVE_TO,
    Z_ACTION_PICK_CUP,
    Z_ACTION_S_RESET,
    Z_ACTION_S_MOVE_TO,
    Z_ACTION_PROBE_AND_ASPIRATE,
    Z_ACTION_ASPIRATE,
    Z_ACTION_OPEN_VALVE,
    Z_ACTION_RESETPRODUCT_DEBUG,
    Z_ACTION_DISABLE_Z_MOTOR,
    Z_ACTION_Z_HOME,
    Z_ACTION_Z_ROLLBACK_CUP,
    Z_ACTION_MOVE_AND_ASPIRATE,
};

// 状态定义
enum Z_STATUS
{
    Z_STATUS_Z_HOME_SENSOR_ERROR = 1,   // 未检测到Z原点传感器
    Z_STATUS_S_HOME_SENSOR_ERROR,       // 未检测到S原点传感器
    Z_STATUS_INSUFFICIENT_REAGENT,      // 试剂不足
    Z_STATUS_PICK_CUP_SENSOR_ERROR,     // 未检测到抓杯传感器
};

#endif // Z_ACTION_H
